diff --git a/env_0/run_0/000074_CAM0_mask_metadata.json b/env_0/run_0/000074_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4578e6a0dda3d21bc3131dae7741853e4469bd32
--- /dev/null
+++ b/env_0/run_0/000074_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      -0.022040650248527527
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+    "speedball_jar_dup_3": 4,
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+    "220,56,134,255": 4,
+    "66,247,90,255": 1
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
+      "class_id": 1,
+      "position": [
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+    "speedball_jar_dup_1": {
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+        0.7192524989252447,
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+    },
+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
+        -0.1847926665632878,
+        0.009195271879434586,
+        0.49917696290985514
+      ],
+      "quaternion_wxyz": [
+        0.3264045608106403,
+        0.6553824460069368,
+        0.20924665733963127,
+        0.6481895930514223
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+    },
+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        -0.12262742889460826,
+        0.09317540377378462,
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+        -0.2764633363041727,
+        -0.5744006858014536,
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+        0.5896289659203627
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000149_CAM0_mask_metadata.json b/env_0/run_0/000149_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0af54c3e816c0c4a0409a05ad4edec113f493be
--- /dev/null
+++ b/env_0/run_0/000149_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
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+      1.2994211912155151
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+  ],
+  "camera_intrinsics": [
+    [
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+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
+    "104,5,147,255": 2,
+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
+  },
+  "color_to_pose": {
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+      "position": [
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+  },
+  "color_to_pose_cam": {
+    "104,5,147,255": {
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+    "speedball_jar_dup_4": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_2": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+        0.06897024810314177,
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000186_CAM0_mask_metadata.json b/env_0/run_0/000186_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e5f36ea60e5c4e5f94b401981080d86db20c63f1
--- /dev/null
+++ b/env_0/run_0/000186_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
+      -0.9999999999999963,
+      -0.0,
+      -8.74227765734757e-08,
+      0.10797775536775589
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+    [
+      8.74227765734757e-08,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000206_CAM0_mask_metadata.json b/env_0/run_0/000206_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fcb0a3b81ba0f504947ab22e238331bfb29b68
--- /dev/null
+++ b/env_0/run_0/000206_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000332_CAM0_mask_metadata.json b/env_0/run_0/000332_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..53b7379e08dcf01df481a7a917d80f1f0ccb66d7
--- /dev/null
+++ b/env_0/run_0/000332_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000403_CAM0_mask_metadata.json b/env_0/run_0/000403_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e9bbb4e37f7110942b6417a58a5720092764e36
--- /dev/null
+++ b/env_0/run_0/000403_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_2": {
+      "class_id": 3,
+      "position": [
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.08110609316551912,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000424_CAM0_mask_metadata.json b/env_0/run_0/000424_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1d6fe7e54b708757f837a4f6aa78d97b46b660e
--- /dev/null
+++ b/env_0/run_0/000424_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
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+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
+    "speedball_jar_dup_4": 5
+  },
+  "color_to_class_id": {
+    "104,5,147,255": 2,
+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
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+  },
+  "color_to_pose": {
+    "104,5,147,255": {
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000512_CAM0_mask_metadata.json b/env_0/run_0/000512_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c92664a478cf5ce4d110681e2b6b439c5eca6f4c
--- /dev/null
+++ b/env_0/run_0/000512_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000572_CAM0_mask_metadata.json b/env_0/run_0/000572_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a27f2095e6a2addb13cf37e451ec540a45fab39b
--- /dev/null
+++ b/env_0/run_0/000572_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000577_CAM0_mask_metadata.json b/env_0/run_0/000577_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1cca20378ad2047af1ea077c0048b4a206dbb204
--- /dev/null
+++ b/env_0/run_0/000577_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000623_CAM0_mask_metadata.json b/env_0/run_0/000623_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ae8c1c2daffccdfd0a7b14579db372ee1d144c5
--- /dev/null
+++ b/env_0/run_0/000623_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000775_CAM0_mask_metadata.json b/env_0/run_0/000775_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ab40252ee7fa82262ea3c2a3a92b5d6189ae8c9
--- /dev/null
+++ b/env_0/run_0/000775_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000833_CAM0_mask_metadata.json b/env_0/run_0/000833_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fe347232334024b46bd65041d80a0b808e7b1f3
--- /dev/null
+++ b/env_0/run_0/000833_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000837_CAM0_mask_metadata.json b/env_0/run_0/000837_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4e581980ba5bc3029f14731f073cccf1b336616
--- /dev/null
+++ b/env_0/run_0/000837_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000913_CAM0_mask_metadata.json b/env_0/run_0/000913_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7bbabf2ddf2d707516c8540f5476cfa9a751a1e
--- /dev/null
+++ b/env_0/run_0/000913_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000963_CAM0_mask_metadata.json b/env_0/run_0/000963_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a8117f9aafa17d81f8555599635cf7d1afe170b7
--- /dev/null
+++ b/env_0/run_0/000963_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000989_CAM0_mask_metadata.json b/env_0/run_0/000989_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a169ea4453b858798f1dbb380270ab7683b645e7
--- /dev/null
+++ b/env_0/run_0/000989_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/000992_CAM0_mask_metadata.json b/env_0/run_0/000992_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cedb6a80b83c918948f51ecae0d106a974bca1c8
--- /dev/null
+++ b/env_0/run_0/000992_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/000994_CAM0_mask_metadata.json b/env_0/run_0/000994_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb04a637a977d139c9a77ed780b43d50267462d5
--- /dev/null
+++ b/env_0/run_0/000994_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001032_CAM0_mask_metadata.json b/env_0/run_0/001032_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e679628db7ef38cf7b6975c2d4e4ff13edb2c92e
--- /dev/null
+++ b/env_0/run_0/001032_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/001034_CAM0_mask_metadata.json b/env_0/run_0/001034_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..eba81f41c60030510ff1b114a3a16f488d129f2b
--- /dev/null
+++ b/env_0/run_0/001034_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001058_CAM0_mask_metadata.json b/env_0/run_0/001058_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c93083a71b96bcfac4b944ab098ef41a9e9bd5a2
--- /dev/null
+++ b/env_0/run_0/001058_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001180_CAM0_mask_metadata.json b/env_0/run_0/001180_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6d780ccc990c394ecbc8ee2df553b4c07295add3
--- /dev/null
+++ b/env_0/run_0/001180_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "position": [
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+        38.08224182648655,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        38.11456812517454,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001209_CAM0_mask_metadata.json b/env_0/run_0/001209_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..00e2b86f7c8865f6ac11514941de6bb3c169b9e7
--- /dev/null
+++ b/env_0/run_0/001209_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001276_CAM0_mask_metadata.json b/env_0/run_0/001276_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cecda6f419b50203c17e3af3355e49e7aeb9729a
--- /dev/null
+++ b/env_0/run_0/001276_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        -0.091249443590641,
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+        0.405994459468375,
+        0.5503043349808135
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001297_CAM0_mask_metadata.json b/env_0/run_0/001297_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b08b9bafc96a37bb6287991ecfffd7b2a9f663b8
--- /dev/null
+++ b/env_0/run_0/001297_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001350_CAM0_mask_metadata.json b/env_0/run_0/001350_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8524e01111ed93fc0de1faeef0ecaeffbfec4278
--- /dev/null
+++ b/env_0/run_0/001350_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        0.38220172532811364,
+        0.5742597814779068,
+        0.6693633314084375
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001399_CAM0_mask_metadata.json b/env_0/run_0/001399_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..92786f0d6f75303e05c71009d5a03d50c85a0cb1
--- /dev/null
+++ b/env_0/run_0/001399_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001417_CAM0_mask_metadata.json b/env_0/run_0/001417_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..69261e12cb7c69d3e1a4e2205a97475b15951359
--- /dev/null
+++ b/env_0/run_0/001417_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
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+  },
+  "color_to_pose": {
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+  },
+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+      "position": [
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+      "position": [
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        -0.0043664871545875394,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001448_CAM0_mask_metadata.json b/env_0/run_0/001448_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3245db8f354a79e677a8b25a9c16e19edff55df4
--- /dev/null
+++ b/env_0/run_0/001448_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
+      -0.9999999999999963,
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+      -8.74227765734757e-08,
+      -0.03517724573612213
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001462_CAM0_mask_metadata.json b/env_0/run_0/001462_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c278048198e76b73b83969b3627bbeaa0eacdb6
--- /dev/null
+++ b/env_0/run_0/001462_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001520_CAM0_mask_metadata.json b/env_0/run_0/001520_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f53cf54a04251df573fcf4f4a7837570535edf8
--- /dev/null
+++ b/env_0/run_0/001520_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001623_CAM0_mask_metadata.json b/env_0/run_0/001623_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b282621425b9c32082cf9bdcc4e8a5a43ac8019f
--- /dev/null
+++ b/env_0/run_0/001623_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001648_CAM0_mask_metadata.json b/env_0/run_0/001648_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7d24a4ab9cdaac5bbcbdf3605168520c69791c6
--- /dev/null
+++ b/env_0/run_0/001648_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
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+  "class_name_to_id": {
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+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+    }
+  },
+  "object_poses_cam": {
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+        2.08721970047316e-06,
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001653_CAM0_mask_metadata.json b/env_0/run_0/001653_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8502e2cbeada25503c5f0e73f81345546c9936b9
--- /dev/null
+++ b/env_0/run_0/001653_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+        0.5974301034894554
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001654_CAM0_mask_metadata.json b/env_0/run_0/001654_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..40f513adb9e2ed5171f5d2f90fffba8a9c18b64b
--- /dev/null
+++ b/env_0/run_0/001654_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_1": 2,
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+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  "color_to_pose": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001659_CAM0_mask_metadata.json b/env_0/run_0/001659_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..da6bceabdeb69f93dfe202240c4b09d48d097c1d
--- /dev/null
+++ b/env_0/run_0/001659_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001664_CAM0_mask_metadata.json b/env_0/run_0/001664_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..91c7d2acbd7680979f0f31fa0a9ecf4231aefc20
--- /dev/null
+++ b/env_0/run_0/001664_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001674_CAM0_mask_metadata.json b/env_0/run_0/001674_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd6dfa5cc35e143d35b4a5b067ca1a4cdc351c07
--- /dev/null
+++ b/env_0/run_0/001674_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001722_CAM0_mask_metadata.json b/env_0/run_0/001722_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6359f5361b7647fadc58d2b81353dae79112982b
--- /dev/null
+++ b/env_0/run_0/001722_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001748_CAM0_mask_metadata.json b/env_0/run_0/001748_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c1187b90594329b19c90b366d5b64a82630117d
--- /dev/null
+++ b/env_0/run_0/001748_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001753_CAM0_mask_metadata.json b/env_0/run_0/001753_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b467d097ab0e89c23c59cb21f1978ee7afa4eea5
--- /dev/null
+++ b/env_0/run_0/001753_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001775_CAM0_mask_metadata.json b/env_0/run_0/001775_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05829d695eee5bd117069340192077e0ef5664e
--- /dev/null
+++ b/env_0/run_0/001775_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001784_CAM0_mask_metadata.json b/env_0/run_0/001784_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fab027707821cd7f959dcca239b493da6b2656e
--- /dev/null
+++ b/env_0/run_0/001784_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001790_CAM0_mask_metadata.json b/env_0/run_0/001790_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..86c487fd4c3b4c271742032f99ed608bf6ffeaca
--- /dev/null
+++ b/env_0/run_0/001790_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001849_CAM0_mask_metadata.json b/env_0/run_0/001849_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d74519cf632c240373837fe3d1ebf3bef6de2239
--- /dev/null
+++ b/env_0/run_0/001849_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001874_CAM0_mask_metadata.json b/env_0/run_0/001874_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cfdedc9fb65df2823ccf0fadd3609160c9cc0058
--- /dev/null
+++ b/env_0/run_0/001874_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001875_CAM0_mask_metadata.json b/env_0/run_0/001875_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ff58cc1bb7f768862e92630412d9d1f89764d167
--- /dev/null
+++ b/env_0/run_0/001875_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001951_CAM0_mask_metadata.json b/env_0/run_0/001951_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..37ebd31b435b8350d50f20d03f4ee99ab0cad0fb
--- /dev/null
+++ b/env_0/run_0/001951_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/001981_CAM0_mask_metadata.json b/env_0/run_0/001981_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..11750ccda2781124da15fe07fe02cab0c501b5c4
--- /dev/null
+++ b/env_0/run_0/001981_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002067_CAM0_mask_metadata.json b/env_0/run_0/002067_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f30a5f76804c7d587e711271c5cbb2f7d2c7ae2e
--- /dev/null
+++ b/env_0/run_0/002067_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002132_CAM0_mask_metadata.json b/env_0/run_0/002132_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b2f06c67967d09aabf824c9e33c6f73991486653
--- /dev/null
+++ b/env_0/run_0/002132_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002175_CAM0_mask_metadata.json b/env_0/run_0/002175_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..988b635a4de7cd2892f8e3abdc40cf1622eaadfd
--- /dev/null
+++ b/env_0/run_0/002175_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002206_CAM0_mask_metadata.json b/env_0/run_0/002206_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..74836d0b927491894db7464ea0d9d8b25484daa9
--- /dev/null
+++ b/env_0/run_0/002206_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002276_CAM0_mask_metadata.json b/env_0/run_0/002276_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15d18b52c5f932bd3a16bc53dd48677e5cbda13f
--- /dev/null
+++ b/env_0/run_0/002276_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002366_CAM0_mask_metadata.json b/env_0/run_0/002366_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..454366505d18eaa109408c6d9c01c19623387d66
--- /dev/null
+++ b/env_0/run_0/002366_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+      "class_id": 4,
+      "position": [
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+        -0.0631916932761669,
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002428_CAM0_mask_metadata.json b/env_0/run_0/002428_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0964a04198425cc9550d5a3828396fb6ebb699c
--- /dev/null
+++ b/env_0/run_0/002428_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002515_CAM0_mask_metadata.json b/env_0/run_0/002515_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2d2b02f337d282222913b94e18748f63ed1080d
--- /dev/null
+++ b/env_0/run_0/002515_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002577_CAM0_mask_metadata.json b/env_0/run_0/002577_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..94906c9ed7b87b61979b8ad5ae5b38abe6437704
--- /dev/null
+++ b/env_0/run_0/002577_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002638_CAM0_mask_metadata.json b/env_0/run_0/002638_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..759515ebf0f9e01c4f730baaed02d9b31273e10c
--- /dev/null
+++ b/env_0/run_0/002638_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002655_CAM0_mask_metadata.json b/env_0/run_0/002655_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fd9a391282a6593aefd3abdc63c194ad3552796
--- /dev/null
+++ b/env_0/run_0/002655_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002727_CAM0_mask_metadata.json b/env_0/run_0/002727_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ade338d5136ad4673f1c153328f3c709b215f523
--- /dev/null
+++ b/env_0/run_0/002727_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/002731_CAM0_mask_metadata.json b/env_0/run_0/002731_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0eb89b2d0b4db49fb27dff7c6fbfae2bd7cef503
--- /dev/null
+++ b/env_0/run_0/002731_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+        0.051315348439199715,
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.1695090510977845,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002739_CAM0_mask_metadata.json b/env_0/run_0/002739_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..75314415efc78de43f8437abaa8f46d71bfa0290
--- /dev/null
+++ b/env_0/run_0/002739_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_1": 2,
+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "146,3,78,255": 5,
+    "220,211,65,255": 3,
+    "220,56,134,255": 4,
+    "66,247,90,255": 1
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+  },
+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002742_CAM0_mask_metadata.json b/env_0/run_0/002742_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b0d72ae2a5ceda58a90f990720d403d752fe23b8
--- /dev/null
+++ b/env_0/run_0/002742_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+}
\ No newline at end of file
diff --git a/env_0/run_0/002758_CAM0_mask_metadata.json b/env_0/run_0/002758_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5e0ccfdacefc6129fb7ca12a98e157a14ce05848
--- /dev/null
+++ b/env_0/run_0/002758_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002775_CAM0_mask_metadata.json b/env_0/run_0/002775_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f47d31cd4994c6dc6bc720c5612ac106c8c23bfd
--- /dev/null
+++ b/env_0/run_0/002775_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002780_CAM0_mask_metadata.json b/env_0/run_0/002780_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..67f33c2f609e122fe6fd5f898990df7465a8b54d
--- /dev/null
+++ b/env_0/run_0/002780_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002816_CAM0_mask_metadata.json b/env_0/run_0/002816_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..946435d697a853587bae58569573f6d057915e3a
--- /dev/null
+++ b/env_0/run_0/002816_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002833_CAM0_mask_metadata.json b/env_0/run_0/002833_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1d4d480d09301ef19f6cedd8fe3786bd28531c7
--- /dev/null
+++ b/env_0/run_0/002833_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/002982_CAM0_mask_metadata.json b/env_0/run_0/002982_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c46f767793c07e504158b3c279d333c43a4c853
--- /dev/null
+++ b/env_0/run_0/002982_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003157_CAM0_mask_metadata.json b/env_0/run_0/003157_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..769a1c66fb602cbf0ec2c1582ecbbeae18eb325d
--- /dev/null
+++ b/env_0/run_0/003157_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003247_CAM0_mask_metadata.json b/env_0/run_0/003247_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3102b5feae8cff57b54fbeb42b067be801fbf806
--- /dev/null
+++ b/env_0/run_0/003247_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003257_CAM0_mask_metadata.json b/env_0/run_0/003257_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7eba6d5f483246ddf505d89a2192718546bca1d8
--- /dev/null
+++ b/env_0/run_0/003257_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003275_CAM0_mask_metadata.json b/env_0/run_0/003275_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..85036a46caf6bc85e7097ed6833ac6a171c1364a
--- /dev/null
+++ b/env_0/run_0/003275_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003278_CAM0_mask_metadata.json b/env_0/run_0/003278_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec94c7179262889ebff150b6184439b837998061
--- /dev/null
+++ b/env_0/run_0/003278_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003288_CAM0_mask_metadata.json b/env_0/run_0/003288_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d9c9c1bc9e7ee28545b733ff75fdb8e1e5ad471
--- /dev/null
+++ b/env_0/run_0/003288_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003330_CAM0_mask_metadata.json b/env_0/run_0/003330_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..efa197856a3616c9ee3c916b0c5671a3d1f1eb7e
--- /dev/null
+++ b/env_0/run_0/003330_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003334_CAM0_mask_metadata.json b/env_0/run_0/003334_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ebb64da81ddd0d2fcfc87ec7ba5196607d4ddf0
--- /dev/null
+++ b/env_0/run_0/003334_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003400_CAM0_mask_metadata.json b/env_0/run_0/003400_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..abb111574384cdeceed65c0081a769d778bf43e2
--- /dev/null
+++ b/env_0/run_0/003400_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003409_CAM0_mask_metadata.json b/env_0/run_0/003409_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aed3b4f0cd54b5b6748070dd57df8cdd2eeee85a
--- /dev/null
+++ b/env_0/run_0/003409_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003459_CAM0_mask_metadata.json b/env_0/run_0/003459_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6fc362553f6d826b967ee79db86404d93694372
--- /dev/null
+++ b/env_0/run_0/003459_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003580_CAM0_mask_metadata.json b/env_0/run_0/003580_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f57717bce894cd0b37a75a564c34ab0d6efdd2e0
--- /dev/null
+++ b/env_0/run_0/003580_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003593_CAM0_mask_metadata.json b/env_0/run_0/003593_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5790168928be3946f560e78d502c418dd56a8961
--- /dev/null
+++ b/env_0/run_0/003593_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003665_CAM0_mask_metadata.json b/env_0/run_0/003665_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..13410fd613563d558d57d393e62ab1d2ea12d32d
--- /dev/null
+++ b/env_0/run_0/003665_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003727_CAM0_mask_metadata.json b/env_0/run_0/003727_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5d57465d8ded2c70ea5c4e1b6f9aae2ac4787e65
--- /dev/null
+++ b/env_0/run_0/003727_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003854_CAM0_mask_metadata.json b/env_0/run_0/003854_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..90a5e7f60c1e0111e6593a10e3520e2da84a7573
--- /dev/null
+++ b/env_0/run_0/003854_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003883_CAM0_mask_metadata.json b/env_0/run_0/003883_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a6c14f0cab05243dacf46689241e4fd74393b52a
--- /dev/null
+++ b/env_0/run_0/003883_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003905_CAM0_mask_metadata.json b/env_0/run_0/003905_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1172f9ed3874a267e0c902bd59bfeed48bbec050
--- /dev/null
+++ b/env_0/run_0/003905_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/003913_CAM0_mask_metadata.json b/env_0/run_0/003913_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bdcd83c8be1afc7b1a4b8707cf5e4f296f3e6f0
--- /dev/null
+++ b/env_0/run_0/003913_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/003919_CAM0_mask_metadata.json b/env_0/run_0/003919_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d40660d2e491e7a350b170466ebe77ffdfb86cbd
--- /dev/null
+++ b/env_0/run_0/003919_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "position": [
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+      "class_id": 5,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004033_CAM0_mask_metadata.json b/env_0/run_0/004033_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..551a05b6fac3284eb5b2bce25c5cbdf5abbc3412
--- /dev/null
+++ b/env_0/run_0/004033_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004062_CAM0_mask_metadata.json b/env_0/run_0/004062_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0536b88978161444ec5a4796999c4f35f4eef28
--- /dev/null
+++ b/env_0/run_0/004062_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        0.5289621242751813,
+        0.7732715475950522,
+        -0.28531855423846314
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004090_CAM0_mask_metadata.json b/env_0/run_0/004090_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5878038624ac828bd4b4b03cf2442d4ad88cd7b3
--- /dev/null
+++ b/env_0/run_0/004090_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+        1.2796789629429561
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004122_CAM0_mask_metadata.json b/env_0/run_0/004122_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..53a61402ee39969f3149f8ec32d7649bf2cf253c
--- /dev/null
+++ b/env_0/run_0/004122_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  },
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+    "220,211,65,255": 3,
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+    "66,247,90,255": 1
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+      "position": [
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+        0.10524214176202795,
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+    "speedball_jar_dup_4": {
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+      "position": [
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004163_CAM0_mask_metadata.json b/env_0/run_0/004163_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0f7a2b460a7f3eccadcfef28013c60d2af5eaca4
--- /dev/null
+++ b/env_0/run_0/004163_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004184_CAM0_mask_metadata.json b/env_0/run_0/004184_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..986d792eb264befb6f5fe87c97a854618a5fb6dc
--- /dev/null
+++ b/env_0/run_0/004184_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004216_CAM0_mask_metadata.json b/env_0/run_0/004216_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ef873810f738204259703b59c872f5f5dfded84
--- /dev/null
+++ b/env_0/run_0/004216_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004222_CAM0_mask_metadata.json b/env_0/run_0/004222_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..79239d04d52e93e905d5c3d01c3c5e2fe5a6173a
--- /dev/null
+++ b/env_0/run_0/004222_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004320_CAM0_mask_metadata.json b/env_0/run_0/004320_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6729dc2c859531405c6f05b2b8dc4701ad11f29c
--- /dev/null
+++ b/env_0/run_0/004320_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004397_CAM0_mask_metadata.json b/env_0/run_0/004397_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9c5a1c476cf1042d2a9b7c65cf3b7b98daaf8b12
--- /dev/null
+++ b/env_0/run_0/004397_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004450_CAM0_mask_metadata.json b/env_0/run_0/004450_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..155c3711cd0763d830bf32adf46f4ca585ebdf99
--- /dev/null
+++ b/env_0/run_0/004450_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004509_CAM0_mask_metadata.json b/env_0/run_0/004509_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..007b7c3058039610ebce15a652196e58f55eaa13
--- /dev/null
+++ b/env_0/run_0/004509_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004549_CAM0_mask_metadata.json b/env_0/run_0/004549_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec953dd4506c6c3cc46b1d2029c79eb513ac482
--- /dev/null
+++ b/env_0/run_0/004549_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004605_CAM0_mask_metadata.json b/env_0/run_0/004605_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3dbfccb445a788d0f3085b4a1e4cf2b477a00656
--- /dev/null
+++ b/env_0/run_0/004605_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_2": 3,
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_2": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004633_CAM0_mask_metadata.json b/env_0/run_0/004633_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dedccdb187e2ad518c8128b663c1f64e0adde810
--- /dev/null
+++ b/env_0/run_0/004633_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_2": 3,
+    "speedball_jar_dup_3": 4,
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+  },
+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
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+      "position": [
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+        1.2988729641240215
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+    "speedball_jar_dup_4": {
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004664_CAM0_mask_metadata.json b/env_0/run_0/004664_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d2911fa1944a2935f9a0ef1cf64df0aea70f3b5
--- /dev/null
+++ b/env_0/run_0/004664_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004736_CAM0_mask_metadata.json b/env_0/run_0/004736_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7dc7ac8273c5265468b210feb2580a9bea1a219a
--- /dev/null
+++ b/env_0/run_0/004736_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004739_CAM0_mask_metadata.json b/env_0/run_0/004739_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e3529d3e67c116e3a478d09882ad6f08cb625f4
--- /dev/null
+++ b/env_0/run_0/004739_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_2": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004824_CAM0_mask_metadata.json b/env_0/run_0/004824_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c6dbf71fcd30e45c4b20105eb12ebe0eae8451fb
--- /dev/null
+++ b/env_0/run_0/004824_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "class_name_to_id": {
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+    "speedball_jar_dup_3": 4,
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+  "color_to_class_id": {
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+  "color_to_pose_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004873_CAM0_mask_metadata.json b/env_0/run_0/004873_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbfce41e4d775935039995442fe5ca48ffba9caa
--- /dev/null
+++ b/env_0/run_0/004873_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/004975_CAM0_mask_metadata.json b/env_0/run_0/004975_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f62815b8428c29a1a41337c7ab46d5db748ad6a1
--- /dev/null
+++ b/env_0/run_0/004975_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/004998_CAM0_mask_metadata.json b/env_0/run_0/004998_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..84afe8bc75061ae3d417b2cca1be58fd2a1abeaf
--- /dev/null
+++ b/env_0/run_0/004998_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005010_CAM0_mask_metadata.json b/env_0/run_0/005010_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..af649a339911c2c01bd0a402297db10587a381c0
--- /dev/null
+++ b/env_0/run_0/005010_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005061_CAM0_mask_metadata.json b/env_0/run_0/005061_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cf67d35fefb5082b16bc6deb7c011926179163
--- /dev/null
+++ b/env_0/run_0/005061_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005091_CAM0_mask_metadata.json b/env_0/run_0/005091_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4fe0e0358b50829165815f829f5d709918d92e06
--- /dev/null
+++ b/env_0/run_0/005091_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005102_CAM0_mask_metadata.json b/env_0/run_0/005102_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7345800c8c022974ad8bcb2bb186082d2ee54db9
--- /dev/null
+++ b/env_0/run_0/005102_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005173_CAM0_mask_metadata.json b/env_0/run_0/005173_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c3adb9557d2e8cfca0abddc8e4a6a135fa52a4c
--- /dev/null
+++ b/env_0/run_0/005173_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005263_CAM0_mask_metadata.json b/env_0/run_0/005263_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e29ee638871eedbd0f9e6dc65b86d1fb7e52ab0
--- /dev/null
+++ b/env_0/run_0/005263_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005297_CAM0_mask_metadata.json b/env_0/run_0/005297_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe352d342a6f56e0dc69b403c4ee1a99c3e3e408
--- /dev/null
+++ b/env_0/run_0/005297_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
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+        1.5085813410392566
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005399_CAM0_mask_metadata.json b/env_0/run_0/005399_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c2d36ecd11ec69e57b4b0040470b048a1dbe56
--- /dev/null
+++ b/env_0/run_0/005399_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005457_CAM0_mask_metadata.json b/env_0/run_0/005457_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab2cb7ca86e2bcbb6e454fae916a9325a3836862
--- /dev/null
+++ b/env_0/run_0/005457_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005538_CAM0_mask_metadata.json b/env_0/run_0/005538_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..19e837592275b9e8a89909c404b6c10ddcb32972
--- /dev/null
+++ b/env_0/run_0/005538_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005605_CAM0_mask_metadata.json b/env_0/run_0/005605_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e874f9bcb5534dcf7f1feb7fa7630b1e306f6168
--- /dev/null
+++ b/env_0/run_0/005605_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
+        -100.18856053630995,
+        100.0221238727681,
+        1.2591039848986691
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+        0.8757646347189527,
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+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005650_CAM0_mask_metadata.json b/env_0/run_0/005650_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce32df38cc306b1e452c0e2c7c489a756cfb6543
--- /dev/null
+++ b/env_0/run_0/005650_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005680_CAM0_mask_metadata.json b/env_0/run_0/005680_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b45e53d7548243eb018cf8037024493406f0d23
--- /dev/null
+++ b/env_0/run_0/005680_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005703_CAM0_mask_metadata.json b/env_0/run_0/005703_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f738fc8ab0423fbd0a0683d5ad5bc7d853fbe3a
--- /dev/null
+++ b/env_0/run_0/005703_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005738_CAM0_mask_metadata.json b/env_0/run_0/005738_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..18cdd10acbb1165fc2633aba20691144b5fa5574
--- /dev/null
+++ b/env_0/run_0/005738_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+  "object_poses_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005788_CAM0_mask_metadata.json b/env_0/run_0/005788_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..994d3ba50de426d9fac789d6da7d0137d0879b1c
--- /dev/null
+++ b/env_0/run_0/005788_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005808_CAM0_mask_metadata.json b/env_0/run_0/005808_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b749327b50f2e3890a7868567e703f7adf0b2d75
--- /dev/null
+++ b/env_0/run_0/005808_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005821_CAM0_mask_metadata.json b/env_0/run_0/005821_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bbadb20dec536a6819eb9a4f9ea34326d349571a
--- /dev/null
+++ b/env_0/run_0/005821_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+    "220,211,65,255": 3,
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005836_CAM0_mask_metadata.json b/env_0/run_0/005836_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..21de5904b924995f6db4775feaf52711308ade16
--- /dev/null
+++ b/env_0/run_0/005836_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005874_CAM0_mask_metadata.json b/env_0/run_0/005874_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15779d90253a17dd84ea9c0615f0ffb5adf0b6cc
--- /dev/null
+++ b/env_0/run_0/005874_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_1": 2,
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+  "color_to_class_id": {
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005916_CAM0_mask_metadata.json b/env_0/run_0/005916_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..c1f284663854b523a15e2ec18e4a383680764712
--- /dev/null
+++ b/env_0/run_0/005916_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005917_CAM0_mask_metadata.json b/env_0/run_0/005917_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1f7b2e7c3c050ab0a37fdab15c2304d475a5a9c
--- /dev/null
+++ b/env_0/run_0/005917_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+  },
+  "object_poses_cam": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/005923_CAM0_mask_metadata.json b/env_0/run_0/005923_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3833d25c80601ecc76b1af73f0e848e6df4340d
--- /dev/null
+++ b/env_0/run_0/005923_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_2": {
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+      "position": [
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+    "speedball_jar_dup_3": {
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+      "position": [
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+    "speedball_jar_dup_4": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006086_CAM0_mask_metadata.json b/env_0/run_0/006086_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..524af7f083d6add41dfd306b3968eedcdd10dadc
--- /dev/null
+++ b/env_0/run_0/006086_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": 4,
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+    "220,211,65,255": 3,
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+}
\ No newline at end of file
diff --git a/env_0/run_0/006098_CAM0_mask_metadata.json b/env_0/run_0/006098_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de920dd997b9e8ff92812499f9165d611d08508
--- /dev/null
+++ b/env_0/run_0/006098_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
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+}
\ No newline at end of file
diff --git a/env_0/run_0/006107_CAM0_mask_metadata.json b/env_0/run_0/006107_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..358700910c87021d14baec8b25f72b34060384c7
--- /dev/null
+++ b/env_0/run_0/006107_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006152_CAM0_mask_metadata.json b/env_0/run_0/006152_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..28a1c00d77e2a41a045696cccc63edbc607ba260
--- /dev/null
+++ b/env_0/run_0/006152_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006179_CAM0_mask_metadata.json b/env_0/run_0/006179_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e164870dd312810da1233d74bf53d414953a81ed
--- /dev/null
+++ b/env_0/run_0/006179_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006204_CAM0_mask_metadata.json b/env_0/run_0/006204_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7c3961f5216035859a660495b91d2903722d42d9
--- /dev/null
+++ b/env_0/run_0/006204_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006243_CAM0_mask_metadata.json b/env_0/run_0/006243_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..b79999254a85a766c241ef4e5396390d6154b3cc
--- /dev/null
+++ b/env_0/run_0/006243_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006320_CAM0_mask_metadata.json b/env_0/run_0/006320_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e49d1149f9cec0b51495a137dfd62388f5b9570e
--- /dev/null
+++ b/env_0/run_0/006320_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006336_CAM0_mask_metadata.json b/env_0/run_0/006336_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0103773c197f61e8be172278af7d60edb2172e3
--- /dev/null
+++ b/env_0/run_0/006336_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006344_CAM0_mask_metadata.json b/env_0/run_0/006344_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..36ee984c9c562089ad61351a78244c6e72bb2d9c
--- /dev/null
+++ b/env_0/run_0/006344_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/006351_CAM0_mask_metadata.json b/env_0/run_0/006351_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..203f87a8345cda8906d369b64712bf7c49dae3ad
--- /dev/null
+++ b/env_0/run_0/006351_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006364_CAM0_mask_metadata.json b/env_0/run_0/006364_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb62914693cc2f73573e3634dfb36b3acaced629
--- /dev/null
+++ b/env_0/run_0/006364_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006390_CAM0_mask_metadata.json b/env_0/run_0/006390_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..7512d83edda40aec2d729a9987e1a31122d97441
--- /dev/null
+++ b/env_0/run_0/006390_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006487_CAM0_mask_metadata.json b/env_0/run_0/006487_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5389d882a64e00da854ed68ee74e0a5e79d3a123
--- /dev/null
+++ b/env_0/run_0/006487_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006540_CAM0_mask_metadata.json b/env_0/run_0/006540_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b7ba422cf8a7972e7c928ad367952709a987f3e
--- /dev/null
+++ b/env_0/run_0/006540_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006555_CAM0_mask_metadata.json b/env_0/run_0/006555_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..614c2bb8c3e19d8a5d9ec5b938d3c7990213189e
--- /dev/null
+++ b/env_0/run_0/006555_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006602_CAM0_mask_metadata.json b/env_0/run_0/006602_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0275ac6a5901c2133cb1322b12f4cd95d71e8234
--- /dev/null
+++ b/env_0/run_0/006602_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006631_CAM0_mask_metadata.json b/env_0/run_0/006631_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f1facbf66022a3a94b0d611b1412430f3cf12c4e
--- /dev/null
+++ b/env_0/run_0/006631_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006678_CAM0_mask_metadata.json b/env_0/run_0/006678_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..70eff25a424df0ce2dfd6f88ce45d0a018bd7e51
--- /dev/null
+++ b/env_0/run_0/006678_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+      "class_id": 5,
+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006707_CAM0_mask_metadata.json b/env_0/run_0/006707_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b7e8ff423ed7b4d5e79d43719c9eb06bfffc833
--- /dev/null
+++ b/env_0/run_0/006707_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006733_CAM0_mask_metadata.json b/env_0/run_0/006733_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1ec773f9110bc7354d430c958a8f85f6ab382b7
--- /dev/null
+++ b/env_0/run_0/006733_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        0.07926096844121928,
+        0.19306494521677547
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006747_CAM0_mask_metadata.json b/env_0/run_0/006747_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..dfe0d6ddbdd8f2cdddf4e7d3736ca97a292d8135
--- /dev/null
+++ b/env_0/run_0/006747_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
+      "class_id": 5,
+      "position": [
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+        0.6783077318392977,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006751_CAM0_mask_metadata.json b/env_0/run_0/006751_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bf5e3350dc0a5e2d4187d5fad3a3d19f79e512a4
--- /dev/null
+++ b/env_0/run_0/006751_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
+    "speedball_jar": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006767_CAM0_mask_metadata.json b/env_0/run_0/006767_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..edb03575ebe685d492af32106e08391a8abbb66e
--- /dev/null
+++ b/env_0/run_0/006767_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+}
\ No newline at end of file
diff --git a/env_0/run_0/006838_CAM0_mask_metadata.json b/env_0/run_0/006838_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8260a8089a795a1c01ae9f1ba404d47027f654d3
--- /dev/null
+++ b/env_0/run_0/006838_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006902_CAM0_mask_metadata.json b/env_0/run_0/006902_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..94fef60c96f58cf3c9b2cc1f01bd4044714e360a
--- /dev/null
+++ b/env_0/run_0/006902_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/006950_CAM0_mask_metadata.json b/env_0/run_0/006950_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..91b438cf3241cafc2c676f8960972d8dd735d498
--- /dev/null
+++ b/env_0/run_0/006950_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007074_CAM0_mask_metadata.json b/env_0/run_0/007074_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..251dd47f70eba9dd9345c2f635692d6be7568781
--- /dev/null
+++ b/env_0/run_0/007074_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "color_to_class_id": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007088_CAM0_mask_metadata.json b/env_0/run_0/007088_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..6ad2ea6a0c9cbe1ccec81cde2b9998ec67e91836
--- /dev/null
+++ b/env_0/run_0/007088_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007119_CAM0_mask_metadata.json b/env_0/run_0/007119_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e8c0e63a653ca7f0f1ec50936dc703e115c63e
--- /dev/null
+++ b/env_0/run_0/007119_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007240_CAM0_mask_metadata.json b/env_0/run_0/007240_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5b1cac077d2dac53f6b47c48fd58d0c3da67ab2
--- /dev/null
+++ b/env_0/run_0/007240_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007282_CAM0_mask_metadata.json b/env_0/run_0/007282_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..15606ad7a191c18da94abc1286a99e06655e4dea
--- /dev/null
+++ b/env_0/run_0/007282_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007371_CAM0_mask_metadata.json b/env_0/run_0/007371_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9640a5fc779adbe6a799873e10837ee3f87584a7
--- /dev/null
+++ b/env_0/run_0/007371_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007431_CAM0_mask_metadata.json b/env_0/run_0/007431_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5102c9663539df16f0a6a4fdfe963733c5be27c1
--- /dev/null
+++ b/env_0/run_0/007431_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007435_CAM0_mask_metadata.json b/env_0/run_0/007435_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..191fd44ae8211373a885a02007dc8737f9bdd21f
--- /dev/null
+++ b/env_0/run_0/007435_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007691_CAM0_mask_metadata.json b/env_0/run_0/007691_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..33988fdb74c425a184668ab4fd6e233f8aab83ab
--- /dev/null
+++ b/env_0/run_0/007691_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007732_CAM0_mask_metadata.json b/env_0/run_0/007732_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..56f951d111c82d3e7ac1b8807a215bc24e887f7e
--- /dev/null
+++ b/env_0/run_0/007732_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007768_CAM0_mask_metadata.json b/env_0/run_0/007768_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..883955d3d86b6a0e3a6d36798d08b9db01c68a0e
--- /dev/null
+++ b/env_0/run_0/007768_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007842_CAM0_mask_metadata.json b/env_0/run_0/007842_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f4a7dc2cb3ca69358763eb235c7b4c405bbd09d
--- /dev/null
+++ b/env_0/run_0/007842_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007875_CAM0_mask_metadata.json b/env_0/run_0/007875_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..89104abca167a0f24115ead9fc36a5c86af0c940
--- /dev/null
+++ b/env_0/run_0/007875_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+      "position": [
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+      "position": [
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007876_CAM0_mask_metadata.json b/env_0/run_0/007876_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd47a47e39cb07dcba0c3865731b9e27f16c2e46
--- /dev/null
+++ b/env_0/run_0/007876_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007882_CAM0_mask_metadata.json b/env_0/run_0/007882_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e9cbe664f99ef19a9782dad9e4f028fbfd61b85
--- /dev/null
+++ b/env_0/run_0/007882_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007930_CAM0_mask_metadata.json b/env_0/run_0/007930_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b0c1681948ecbaeafd9a86ba36ea519d6845537
--- /dev/null
+++ b/env_0/run_0/007930_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007952_CAM0_mask_metadata.json b/env_0/run_0/007952_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aac8e36d63e5e8b8716600793195d8e90e9cf58d
--- /dev/null
+++ b/env_0/run_0/007952_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+      "class_id": 5,
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/007975_CAM0_mask_metadata.json b/env_0/run_0/007975_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9cc48ff6d632260fc3766bbe91bc5d6f82c61b1
--- /dev/null
+++ b/env_0/run_0/007975_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008068_CAM0_mask_metadata.json b/env_0/run_0/008068_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3142c1affb11576dcbf566d541b44772851306ec
--- /dev/null
+++ b/env_0/run_0/008068_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008107_CAM0_mask_metadata.json b/env_0/run_0/008107_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f6729686a19e90ee3e1825ddc66f4ad137d5877
--- /dev/null
+++ b/env_0/run_0/008107_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008134_CAM0_mask_metadata.json b/env_0/run_0/008134_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..39ec2f5cd4d8f005de0e188f9d1b94ebe1fe29a7
--- /dev/null
+++ b/env_0/run_0/008134_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008256_CAM0_mask_metadata.json b/env_0/run_0/008256_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..85670a3ab8d7f0f917b471fb3d675b4275f72cb5
--- /dev/null
+++ b/env_0/run_0/008256_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008386_CAM0_mask_metadata.json b/env_0/run_0/008386_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..5b086c58fe984c64a569cc38a2949172411b8afd
--- /dev/null
+++ b/env_0/run_0/008386_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "speedball_jar_dup_3": {
+      "class_id": 4,
+      "position": [
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008401_CAM0_mask_metadata.json b/env_0/run_0/008401_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..0fb286a05e74f6c3a78cc6c6c3faf6031e50d0c8
--- /dev/null
+++ b/env_0/run_0/008401_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008419_CAM0_mask_metadata.json b/env_0/run_0/008419_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..caa7167ea39e907a298066cdcb99f03f91dd1f80
--- /dev/null
+++ b/env_0/run_0/008419_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+        -0.19460604387237632,
+        0.6969702104438869,
+        0.66389819996108
+      ]
+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008534_CAM0_mask_metadata.json b/env_0/run_0/008534_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..78434ad3fc282edb17b087376944285cb0fcde0b
--- /dev/null
+++ b/env_0/run_0/008534_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
+  "object_poses_cam": {
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008566_CAM0_mask_metadata.json b/env_0/run_0/008566_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..4ed98cd9612849b61bda10013cae54dbada49b8d
--- /dev/null
+++ b/env_0/run_0/008566_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    "220,211,65,255": 3,
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+  "color_to_pose_cam": {
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+  },
+  "object_poses_cam": {
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+        119.9338499348855,
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+    "speedball_jar_dup_4": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008595_CAM0_mask_metadata.json b/env_0/run_0/008595_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a18252eb8c77949e6568e2493dce714aced9aa94
--- /dev/null
+++ b/env_0/run_0/008595_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
+  "camera_extrinsics": [
+    [
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+}
\ No newline at end of file
diff --git a/env_0/run_0/008633_CAM0_mask_metadata.json b/env_0/run_0/008633_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9455d69fe99013a74fbf020d70a4bbc281cc8576
--- /dev/null
+++ b/env_0/run_0/008633_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
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+}
\ No newline at end of file
diff --git a/env_0/run_0/008679_CAM0_mask_metadata.json b/env_0/run_0/008679_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5b584172663cdb60d661709fe629b263736a1fc
--- /dev/null
+++ b/env_0/run_0/008679_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008705_CAM0_mask_metadata.json b/env_0/run_0/008705_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e1b0614ce6c76895f7a4a9d3008a21b4a8948c8
--- /dev/null
+++ b/env_0/run_0/008705_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008738_CAM0_mask_metadata.json b/env_0/run_0/008738_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..41890666801d41f3a0f5e535ddf9631c6461e9ea
--- /dev/null
+++ b/env_0/run_0/008738_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008817_CAM0_mask_metadata.json b/env_0/run_0/008817_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..aa2d98268058e8a7433c73f6a40a7c40c69d12fe
--- /dev/null
+++ b/env_0/run_0/008817_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008864_CAM0_mask_metadata.json b/env_0/run_0/008864_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fbdabfdbd4619d47b447c586ab96e07c44e7c18
--- /dev/null
+++ b/env_0/run_0/008864_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  "object_poses_cam": {
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+    }
+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008910_CAM0_mask_metadata.json b/env_0/run_0/008910_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..9ce31df2270bad05520d2ed0314b7b46e618bb6e
--- /dev/null
+++ b/env_0/run_0/008910_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+  },
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+    "speedball_jar_dup_3": {
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+    "speedball_jar_dup_4": {
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+  }
+}
\ No newline at end of file
diff --git a/env_0/run_0/008983_CAM0_mask_metadata.json b/env_0/run_0/008983_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e15b7d6eeddae79287fe2feae2d7ed073076e7c
--- /dev/null
+++ b/env_0/run_0/008983_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file
diff --git a/env_0/run_0/008988_CAM0_mask_metadata.json b/env_0/run_0/008988_CAM0_mask_metadata.json
new file mode 100644
index 0000000000000000000000000000000000000000..abf95d90bfd674cc9f5edcb03760d1a5f0a98e83
--- /dev/null
+++ b/env_0/run_0/008988_CAM0_mask_metadata.json
@@ -0,0 +1,347 @@
+{
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+}
\ No newline at end of file